Thank you gpunkt,
When I position the robot, and it J4 went to its limit. The bad thing is that when I teach points - it seems OK. As soon as I tray using "MOVE TO" button on TP or I create simple program with linear movement (I need linear, because the cardboard box need to go straight through taping head), I got limit error on J4.
I struggled with this problem for day and a half!
Cheers!
Svetozar